class caliMagCtrl():
def __init__(self, buf=array('H', [100]), ch=1):
self.timer = Timer(6)
self.dac = DAC(ch, bits=12)
self.buf = buf
self.dac_on = 0
def reset_buf(self, buf):
self.buf = buf
def start(self, freq=10):
self.dac.write_timed(self.buf, self.timer, mode=DAC.CIRCULAR)
self.timer.init(freq=freq * len(self.buf))
self.dac_on = 1
def stop(self):
self.timer.deinit()
self.dac.write(0)
self.dac_on = 0
def toggle(self, freq=5):
if self.dac_on:
self.stop()
else:
self.start(freq)
def main():
## 统一分配引脚
bc = BoardCtrl('X1', 'X2', 'X3', 'X4')
bufs = generate_bufs()
DAC_ch = 'X5'
sync_sig = syncSignal('X6')
# record_sig = syncSignal('X7')
freqs = [13]
repeat = 1
timer_num = 6
mctrl = magCtrl(bufs, freqs, DAC_ch, sync_sig, bc, repeat, timer_num)
# record_sig.falling_edge() # 发送启动记录的信号
led = ledCue()
## timer3,用于循环测试
tim3 = Timer(3)
tim3.init(freq=0.2)
tim3.callback(mctrl.next)
while not mctrl.end_flg:
if mctrl.new_block:
led.next(mctrl.stimulus_level)
mctrl.new_block = False
time.sleep_us(500000) # 每50ms
# record_sig.falling_edge() # 发送结束记录的信号
led.end()
class caliMagCtrl1():
def __init__(self, amps=[], freqs=[], bufs=[], ch=1):
# amps: 幅值序列
# bufs: 对应幅值的正弦序列
self.timer = Timer(6)
self.dac = DAC(ch, bits=12)
self.amps = amps
self.bufs = bufs
self.freqs = freqs
self.indx = range(len(amps))
self.newtask = False
def next(self):
ind = self.indx.pop(0)
self.indx.append(ind)
self.amp = self.amps[ind]
buf = self.bufs[ind]
self.freq = self.freqs[ind]
if self.amp == 0:
self.timer.deinit()
self.dac.write(0)
else:
self.dac.write_timed(buf, self.timer, mode=DAC.CIRCULAR)
self.timer.init(freq=self.freq * len(buf))
self.newtask = True
def main():
## 创建测试磁场对象，统一分配引脚
tiny = pyb.Pin('X1', pyb.Pin.OUT_PP) # 对应小电阻, 接CM1
big = pyb.Pin('X2', pyb.Pin.OUT_PP) # 对应大电阻, 接CM2
rw = resistSwitch(big_resist_pin=big, tiny_resist_pin=tiny)
bufs = generate_bufs()
record_sig = syncSignal(pyb.Pin('X3', pyb.Pin.OUT_PP)) # X3 对应光耦IN1
sync_sig = syncSignal(pyb.Pin('X4', pyb.Pin.OUT_PP)) # X4 对应光耦IN2
freqs = [10]
ch = 1 # X5 标定磁场输出
repeat = 20
timer_num = 6
mctrl = magCtrl(bufs, freqs, ch, sync_sig, rw, repeat, timer_num)
record_sig.falling_edge() # 发送启动记录的信号
led = ledCue()
## timer3,用于循环测试
tim3 = Timer(3)
tim3.init(freq=0.1)
tim3.callback(mctrl.next)
while not mctrl.end_flg:
if mctrl.new_block:
led.next(mctrl.stimulus_typ)
mctrl.new_block = False
time.sleep_us(500000) # 每50ms
record_sig.falling_edge() # 发送结束记录的信号
led.end()
class PidTimer(Pid):
'''
Implements the PID-stabilization algorithm as a Timer callback
IMPORTANT!!! It seems it is not allowed to allocate memory within the timer callback.
Therefore, this class won't work.
'''
def __init__(self, timerId, length, readInputDelegate, setOutputDelegate,
pidName):
'''
Constructor
@param timerId: Timer to be used
@param length: Number of items to stabilize
@param readInputDelegate: Method to gather current values.
Must return an array with the same number of items to stabilize
@param setOutputDelegate: Delegate's parameter is an array with the values to react,
one for each item to stabilize.
@param pidName: (optional) Name to identify the PID-thread among other ones.
'''
super().__init__(length, readInputDelegate, setOutputDelegate, pidName)
self._timer = Timer(timerId)
def _doCalculate(self, timer):
print("_doCalculate")
self._calculate()
def init(self, freq, initRunning=True):
'''
Initializes stabilization as a coroutine.
Initializes a thread to perform calculations in background
@param freq: Frequency of the stabilization. This value is ignored if period is provided
@param initRunning: Starts stabilization immediately
'''
self._timer.init(freq=freq)
self._timer.callback(lambda t: self._doCalculate(t))
def stop(self):
'''
Stops the coroutine
'''
self._timer.callback(None)
self._timer.deinit()
class PWM:
def __init__(self, pin_name):
tim_num = PWM_PINS[pin_name.name()][0]
ch_num = PWM_PINS[pin_name.name()][1]
self.p = Pin(pin_name)
self.tim = Timer(tim_num)
self.tim.init(freq=10000) # need 5k+ for VNH5019 current sense to work
# TODO is this right?
self.ch = self.tim.channel(ch_num,
mode=Timer.PWM,
pin=self.p,
pulse_width_percent=0) # especially this
def duty_cycle(self, dc):
# dc is duty cycle from 0 to 100
self.ch.pulse_width_percent(dc)
class LEDState(
State
): # Output is determined by ``__enter__`` and ``__exit__`` (common in embedded machines).
def __init__(self, led_num, time_on, event):
super().__init__(ident=led_num) # Use the LED num as the ident.
self.led = LED(self.ident) # The LED to use.
self.timer = Timer(timer0 + self.ident) # The timer to use.
self.timeout = time_on # Time to wait before firing event.
self.event = event # Event to fire at end of time_on.
def __enter__(self):
self.led.on()
self.timer.init(
freq=1 / self.timeout,
callback=lambda _: schedule(tl_fire_ref, self.event))
return self
def __exit__(self, exc_type, exc_value, traceback):
self.led.off()
self.timer.deinit()
return False
class FlashingRed(State): # Special fault state that should never exit.
def __init__(self):
super().__init__(ident='error')
self.timer = Timer(timer0 + 4)
self.led = LED(1)
# noinspection PyUnusedLocal
def toggle_with_arg(
not_used
): # Toggle func that accepts an arg, because ``schedule`` *needs* an arg.
self.led.toggle()
self.led_tog_ref = toggle_with_arg # Store the function reference locally to avoid allocation in interrupt.
def __enter__(self):
self.timer.init(
freq=2, callback=lambda _: schedule(self.led_tog_ref, None))
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.led.off()
self.timer.deinit()
def main():
## 预生成待测试的DAC序列
m = magGen()
m.reset_param(radius=11.34)
bufs = []
m.reset_param(resist=1100) #1.1MOhm 磁场范围约为50pT
for s in [10, 20, 30, 40, 50]:
buf = m.gen_ay(s)
bufs.append((s, 'bigmag', buf))
bufs.append((0, 'cut', array('H', [0])))
m.reset_param(resist=9300) #9.3MOhm 磁场范围约为5pT
for s in [1, 2, 3, 4, 5]:
buf = m.gen_ay(s)
bufs.append((s, 'tinymag', buf))
bufs.append((0, 'cut', array('H', [0])))
## 创建测试磁场对象，统一分配引脚
tiny = pyb.Pin('X1', pyb.Pin.OUT_PP) # 对应小电阻, 接CM1
big = pyb.Pin('X2', pyb.Pin.OUT_PP) # 对应大电阻, 接CM2
rw = resistSwitch(big_resist_pin=big, tiny_resist_pin=tiny)
sport = pyb.Pin('X3', pyb.Pin.OUT_PP) # 对应光耦IN1
sync = syncSignal(sport)
freqs = [5, 13]
ch = 1 # 对应X5
repeat = 2
timer_num = 6
mctrl = magCtrl(bufs, freqs, ch, sync, rw, repeat, timer_num)
# timer3,用于循环测试
tim3 = Timer(3)
tim3.init(freq=0.2)
tim3.callback(mctrl.next)
class caliMagCtrl2():
def __init__(self, freqs=[], bufs=[], ch=1, **kwargs):
# freqs:待测试的频率
# bufs: 对应幅值的正弦序列等消息，每个元素包含(amp,buf,port)
# 其中port是指，使用可变电阻时对应控制的端口
# ch:测试信号输出端口选择
# kwargs: r_port,电阻选择的端口列表
self.timer = Timer(6)
self.dac = DAC(ch, bits=12)
self.freqs = freqs
self.bufs = bufs
self.r_adapt = False
if len(kwargs) > 0:
if 'r_port' in kwargs: #使用电阻自适应调整
self.r_adapt = True
(pyb.Pin(pin, pyb.Pin.OUT_PP) for pin in kwargs['r_port'])
self.freqs = freqs
self.indx = range(len(amps))
self.newtask = False
def next(self):
ind = self.indx.pop(0)
self.indx.append(ind)
self.amp = self.amps[ind]
buf = self.bufs[ind]
self.freq = self.freqs[ind]
if self.amp == 0:
self.timer.deinit()
self.dac.write(0)
else:
self.dac.write_timed(buf, self.timer, mode=DAC.CIRCULAR)
self.timer.init(freq=self.freq * len(buf))
self.newtask = True
# Untitled - By: skywoodsz - 周五 10月 19 2018
import time
from pyb import LED
from pyb import Timer
led = LED(1)
led.on()
#绑定事件方式1
def led_on_off():
global led #向全局寻求led变量
led.toggle() #反转led
timer = Timer(4) #设置定时器4
timer.init(freq=1) #设置定时器频率：1s执行几次
timer.callback(lambda t: led_on_off()) #定时器中断函数/回调函数
while (True): #其后必须有语句体
time.sleep(1000)
#绑定事件方式2
'''
def led_on_off(timer):#不同！
global led#向全局寻求led变量
led.toggle()#反转led
timer=Timer(4)#设置定时器4
timer.init(freq=1)#设置定时器频率：1s执行几次
timer.callback(led_on_off)#定时器中断函数/回调函数。不同！
while(True):#其后必须有语句体
time.sleep(1000)
class Controller:
def __init__(self, uart, pwm_freq):
self.uart = uart
self.i_state = array('i', [0] * len(INAMES))
self.f_state = array('f', [0] * len(FNAMES))
# controller timer
self.controller_timer = Timer(1)
# motor power control
self.nstby = Pin('NSTBY', mode=Pin.OUT_PP)
self.nstby.value(0)
# motors
motor_pwm_timer = Timer(8, freq=pwm_freq)
self.motor1 = TB6612(
motor_pwm_timer.channel(3, Timer.PWM_INVERTED, pin=Pin('PWM_A')),
Pin('AIN1', mode=Pin.OUT_PP), Pin('AIN2', mode=Pin.OUT_PP))
self.motor2 = TB6612(
motor_pwm_timer.channel(1, Timer.PWM_INVERTED, pin=Pin('PWM_B')),
Pin('BIN1', mode=Pin.OUT_PP), Pin('BIN2', mode=Pin.OUT_PP))
# encoders
self.enc1 = init_encoder(4, 'ENC_A1', 'ENC_A2', Pin.AF2_TIM4)
self.enc2 = init_encoder(3, 'ENC_B1', 'ENC_B2', Pin.AF2_TIM3)
# gyro
i2c = I2C(1, freq=400_000)
imu = BNO055(i2c, crystal=True, transpose=(2, 0, 1), sign=(0, 0, 1))
imu.mode(NDOF_FMC_OFF_MODE)
sleep_ms(800)
imu.iget(QUAT_DATA)
self.imu = imu
# pid controllers
self.pid = [
PID(1, 7, 50, 0, -100, 100),
PID(1, 7, 50, 0, -100, 100),
]
def start(self, fs, controller_name="duty_control"):
self.stop()
self.control_laws = getattr(self, controller_name)
self.set_fs(fs)
self.nstby.value(1)
gc.collect()
self.controller_timer.init(freq=fs, callback=self.control)
def stop(self):
self.controller_timer.callback(None)
self.nstby.value(0)
def shutdown(self):
self.controller_timer.deinit()
self.nstby.value(0)
def set_fs(self, fs):
for pid in self.pid:
pid.Ts = 1 / fs
def set_kp(self, pid_index, kp):
self.pid[pid_index].kp = kp
def set_ki(self, pid_index, ki):
self.pid[pid_index].ki = ki
def set_kd(self, pid_index, kd):
self.pid[pid_index].kd = kd
def control(self, timer):
start_us = ticks_us()
# locals
i_state = self.i_state
f_state = self.f_state
# time index
i_state[_ISTATE_K] += 1
# encoders
enc1 = self.enc1
enc2 = self.enc2
cps1 = -c2(enc1.counter())
enc1.counter(0)
cps2 = c2(enc2.counter())
enc2.counter(0)
i_state[_ISTATE_ENC1] += cps1
i_state[_ISTATE_ENC2] += cps2
f_state[_FSTATE_CPT1] = cps1
f_state[_FSTATE_CPT2] = cps2
# gyro
imu = self.imu
imu.iget(QUAT_DATA)
f_state[_FSTATE_QUAT_W] = w = imu.w / (1 << 14)
f_state[_FSTATE_QUAT_X] = x = imu.x / (1 << 14)
f_state[_FSTATE_QUAT_Y] = y = imu.y / (1 << 14)
f_state[_FSTATE_QUAT_Z] = z = imu.z / (1 << 14)
sinp = 2 * (w * y - z * x)
if abs(sinp) >= 1:
# use 90 degrees if out of range
pitch = math.copysign(math.pi / 2, sinp)
else:
pitch = math.asin(sinp)
pitch *= RAD2DEG
f_state[_FSTATE_PITCH] = pitch
# call control code
self.control_laws()
# controller execution time
i_state[_ISTATE_DT1] = ticks_diff(ticks_us(), start_us)
# status
uart = self.uart
uart.writechar(CMD_STATE)
uart.write(i_state)
uart.write(f_state)
# total execution time
i_state[_ISTATE_DT2] = ticks_diff(ticks_us(), start_us)
def duty_control(self):
f_state = self.f_state
self.motor1.speed(f_state[_FSTATE_DUTY1])
self.motor2.speed(f_state[_FSTATE_DUTY2])
def speed_control(self):
f_state = self.f_state
pid = self.pid
cps1 = f_state[_FSTATE_CPT1]
cps2 = f_state[_FSTATE_CPT2]
# control
pid[PID_CPT1].setpoint = f_state[_FSTATE_CPT1_SP]
pid[PID_CPT2].setpoint = f_state[_FSTATE_CPT2_SP]
duty1 = pid[PID_CPT1].update(cps1)
duty2 = pid[PID_CPT2].update(cps2)
self.motor1.speed(duty1)
self.motor2.speed(duty2)
f_state[_FSTATE_DUTY1] = duty1
f_state[_FSTATE_DUTY2] = duty2
import pyb
from pyb import Timer
tim = Timer(4)
tim = Timer(4, prescaler=100, period=200)
print(tim.prescaler())
print(tim.period())
tim.prescaler(300)
print(tim.prescaler())
tim.period(400)
print(tim.period())
tim = Timer(4, freq=1)
tim.init(freq=2000)
def f(t):
print(1)
t.callback(None)
tim.callback(f)
pyb.delay(10)
# f3 closes over f2.y
def f2(x):
y = x
def f3(t):
print(2, y)
class IR:
_active_high = True # Hardware turns IRLED on if pin goes high.
_space = 0 # Duty ratio that causes IRLED to be off
timeit = False # Print timing info
@classmethod
def active_low(cls):
if ESP32:
raise ValueError('Cannot set active low on ESP32')
cls._active_high = False
cls._space = 100
def __init__(self, pin, cfreq, asize, duty, verbose):
if ESP32:
self._rmt = RMT(0,
pin=pin,
clock_div=80,
carrier_freq=cfreq,
carrier_duty_percent=duty) # 1μs resolution
elif RP2: # PIO-based RMT-like device
self._rmt = RP2_RMT(pin_pulse=None,
carrier=(pin, cfreq, duty)) # 1μs resolution
else: # Pyboard
if not IR._active_high:
duty = 100 - duty
tim = Timer(2,
freq=cfreq) # Timer 2/pin produces 36/38/40KHz carrier
self._ch = tim.channel(1, Timer.PWM, pin=pin)
self._ch.pulse_width_percent(self._space) # Turn off IR LED
# Pyboard: 0 <= pulse_width_percent <= 100
self._duty = duty
self._tim = Timer(5) # Timer 5 controls carrier on/off times
self._tcb = self._cb # Pre-allocate
self._arr = array('H', 0 for _ in range(asize)) # on/off times (μs)
self._mva = memoryview(self._arr)
# Subclass interface
self.verbose = verbose
self.carrier = False # Notional carrier state while encoding biphase
self.aptr = 0 # Index into array
def _cb(self, t): # T5 callback, generate a carrier mark or space
t.deinit()
p = self.aptr
v = self._arr[p]
if v == STOP:
self._ch.pulse_width_percent(self._space) # Turn off IR LED.
return
self._ch.pulse_width_percent(self._space if p & 1 else self._duty)
self._tim.init(prescaler=84, period=v, callback=self._tcb)
self.aptr += 1
# Public interface
# Before populating array, zero pointer, set notional carrier state (off).
def transmit(self,
addr,
data,
toggle=0,
validate=False): # NEC: toggle is unused
t = ticks_us()
if validate:
if addr > self.valid[0] or addr < 0:
raise ValueError('Address out of range', addr)
if data > self.valid[1] or data < 0:
raise ValueError('Data out of range', data)
if toggle > self.valid[2] or toggle < 0:
raise ValueError('Toggle out of range', toggle)
self.aptr = 0 # Inital conditions for tx: index into array
self.carrier = False
self.tx(addr, data, toggle) # Subclass populates ._arr
self.trigger() # Initiate transmission
if self.timeit:
dt = ticks_diff(ticks_us(), t)
print('Time = {}μs'.format(dt))
# Subclass interface
def trigger(self): # Used by NEC to initiate a repeat frame
if ESP32:
self._rmt.write_pulses(tuple(self._mva[0:self.aptr]), start=1)
elif RP2:
self.append(STOP)
self._rmt.send(self._arr)
else:
self.append(STOP)
self.aptr = 0 # Reset pointer
self._cb(self._tim) # Initiate physical transmission.
def append(self, *times): # Append one or more time peiods to ._arr
for t in times:
self._arr[self.aptr] = t
self.aptr += 1
self.carrier = not self.carrier # Keep track of carrier state
self.verbose and print('append', t, 'carrier', self.carrier)
def add(self, t): # Increase last time value (for biphase)
assert t > 0
self.verbose and print('add', t)
# .carrier unaffected
self._arr[self.aptr - 1] += t
class PID:
def __init__(self, P, I, D, target_fn, target_freq):
self.Kp = P
self.Ki = I
self.Kd = D
self.target = 0 # Degrees, planner.dist_bearing(), returns flag, (dist, bear)
self.feedback = 0 # Degrees
self.error = 0 # Degrees
self.pid_out = 0
self.output = (0, 0) # (left_pwr, right_pwr)
self.prev_error = 0
self.error_sum = 0
self.base_speed = 0
self.t_fn = target_fn
self.target_flag = False # Set to true by the timer interrupt
self.t_c_top = round(
500 / target_freq) # Counter top values. Timer is set to 100 Hz
self.t_c = 0 # Target counter incremented when the timer triggers
self.timer = None # Timer objects interrupting at period specified by user
self.enable = False
self.LIMITER = 1 # Limits the output for testing
self.POWER_LIMIT = 90
self.BASE_PWR = 50
self.log_msg = None
self.i = 0
def pid(self):
# Updating the target variable
if self.target_flag is True:
# t_fn is planner.dist_bearing()
flag, (dist, bear) = self.t_fn()
self.target_flag = False
if flag is True:
self.target = bear
else:
return False
self.feedback = global_variables.fuse.heading
# Error term
self.error = self.target - self.feedback
# Always rotating in the shortest direction
if self.error > 180:
self.error = 360 - self.error
elif self.error < -180:
self.error = 360 + self.error
if (self.error > -20) and (self.error < 20):
self.error_sum += self.error
self.pid_out = self.Kp * self.error # Proportional
self.pid_out += self.Kd * self.prev_error # Derivative
self.pid_out += self.Ki * self.error_sum # Integral
self.prev_error = self.error
self.base(self.error)
# If error is negative (left turn needed to reduce error), so is pid_out. right speed increases, left speed decreases, vice versa
self.output = (round(
((self.base_speed + self.pid_out / 2) * self.LIMITER),
0), round(((self.base_speed - self.pid_out / 2) * self.LIMITER),
0))
if (abs(self.output[0]) < self.POWER_LIMIT) and (abs(self.output[1]) <
self.POWER_LIMIT):
motor.motor_abs(("l", self.output[0]), ("r", self.output[1]))
else:
cmd.send_uart("pid out of range\n", log_flag)
self.error_sum = 0
return True
def base(self, error):
abs_err = abs(error)
self.base_speed = -(self.BASE_PWR / 180) * abs_err + self.BASE_PWR
def update(self, timer):
self.t_c += 1
if self.t_c % self.t_c_top == 0:
self.target_flag = True
def start_update(self):
# 16-bit timer
self.timer = Timer(9)
self.timer.init(freq=100)
self.timer.callback(self.update)
self.enable = True
self.error_sum = 0
cmd.send_uart("PID timers started\n", log_flag)
def stop_update(self):
try:
self.timer.deinit()
except AttributeError:
cmd.send_uart("PID not initialised\n", log_flag)
self.enable = False
self.error_sum = 0
motor.motor_abs(("l", 0), ("r", 0))
cmd.send_uart("PID stopped\n", log_flag)
def start_pid(self):
# Allows time for the first IMU reading to be completed
sleep_ms(12)
cmd.send_uart("PID thread started", True)
print("PID thread started")
self.enable = False
i = 0
while True:
if i % 5 == 0:
if self.enable:
self.pid()
if i % 3 == 0:
try:
acc = global_variables.imu.accel.xyz
gyr = global_variables.imu.gyro.xyz
mag = global_variables.imu.mag.xyz
except:
cmd.send_uart("MPU reading error", log_flag)
if i % 300 == 0:
msg = {
"type": "gps",
"func": "heading",
"head": str(global_variables.fuse.heading)
}
msg = ujson.dumps(msg)
cmd.send_uart(msg, log_flag)
# print(global_variables.fuse.heading)
global_variables.fuse.update(acc, gyr, mag)
i += 1
def set_pid(self, P, I, D):
self.Kp = P
self.Ki = I
self.Kd = D
if debug_flag is True:
cmd.debug("PID set", debug_flag)
def get_pid(self):
return self.Kp, self.Ki, self.Kd
def set_pwr(self, base_pwr):
if (base_pwr >= 0) and (base_pwr <= 100):
self.BASE_PWR = base_pwr
return True
else:
return False
def get_pwr(self):
return self.BASE_PWR
print("cb4", y)
t.callback(None)
return cb4
# create a timer with a callback, using callback(None) to stop
tim = Timer(1, freq=100, callback=cb1)
pyb.delay(5)
print("before cb1")
pyb.delay(15)
# create a timer with a callback, using deinit to stop
tim = Timer(2, freq=100, callback=cb2)
pyb.delay(5)
print("before cb2")
pyb.delay(15)
# create a timer, then set the freq, then set the callback
tim = Timer(4)
tim.init(freq=100)
tim.callback(cb1)
pyb.delay(5)
print("before cb1")
pyb.delay(15)
# test callback with a closure
tim.init(freq=100)
tim.callback(cb3(3))
pyb.delay(5)
print("before cb4")
pyb.delay(15)
max_ticks = 0
avg_ticks = 0
std_dev_ticks = 0
n = 0
timer = Timer(2)
logger = logging.getLogger(__name__)
logger.info("Latency test CAN")
logger.info("Initializing interface.")
interface = can_tmcl_interface()
logger.info("Performing test.")
while (n < N_SAMPLES):
timer.counter(0)
timer.init(prescaler=0, period=16800000, callback=timeout)
# send invalid (for all modules) TMCL Request
reply = interface.send_request(TMCL_Request(MODULE_ID, 1, 2, 3, 4, 5),
host_id=HOST_ID,
module_id=MODULE_ID)
timer.deinit()
if (not (tout)):
counter = timer.counter()
logger.debug("Measured delta ticks: {}".format(counter))
# update values
value = counter
if (n == 0):
min_ticks = value
max_ticks = value
avg_ticks = value
std_dev_ticks = 0
from pyb import Pin, Timer
out = Pin('X1') # X1 has TIM2, CH1
tim = Timer(4) # create a timer object using timer 4
tim.init(freq=2) # trigger at 2Hz
tim.callback(lambda t: out.toggle())
class magCtrl():
def __init__(self,
bufs,
freqs,
DAC_ch,
sync,
BoardCtrl,
repeat=50,
timer_num=6):
'''
bufs: list, DAC output array
typ: list, the same length with bufs, 'tiny','big','cut' to describe which type of the buf
freqs: list, tested frequences
ch: DAC output channel, 1: 'X5' 2: 'X6'
sync: object for output synchronus signal to record client
resistset: object for adjusting resist according to the magnet strength
timer: internal timer, default 6
'''
self.bufs = bufs
self.freqs = freqs
if DAC_ch == 'X5':
self.dac = DAC(1, bits=12)
elif DAC_ch == 'X6':
self.dac = DAC(2, bits=12)
else:
raise ValueError('DAC pin should be X5 or X6')
self.sync = sync
self.boardctrl = BoardCtrl
self.timer = Timer(timer_num)
self.buf_indx = 0
self.fre_indx = 0
self.fre_len = len(self.freqs)
self.buf_len = len(self.bufs)
self.repeat = repeat
self.rcount = 0
self.end_flg = False
self.new_block = False
self.stimulus_level = 0
def next(self, t):
self.new_block = True
if not self.end_flg:
freq = self.freqs[self.fre_indx]
s, self.stimulus_level, buf = self.bufs[self.buf_indx]
self.boardctrl.update(self.stimulus_level)
print('new trial:', s, 'pT ', freq, 'Hz')
self.buf_indx += 1
if self.buf_indx == self.buf_len:
self.buf_indx = 0
self.fre_indx += 1
if self.fre_indx == self.fre_len:
self.fre_indx = 0
self.rcount += 1
if self.rcount == self.repeat:
self.end_flg = True
self.timer.deinit()
self.dac.write_timed(buf, self.timer,
mode=DAC.CIRCULAR) #启动定时器，写DAC
self.timer.init(freq=freq * len(buf))
self.sync.falling_edge() # 发送同步信号
import pyb
from pyb import Timer
tim = Timer(4)
tim = Timer(4, prescaler=100, period=200)
print(tim.prescaler())
print(tim.period())
tim.prescaler(300)
print(tim.prescaler())
tim.period(400)
print(tim.period())
tim = Timer(4, freq=1)
tim.init(freq=2000)
def f(t):
print(1)
t.callback(None)
tim.callback(f)
pyb.delay(10)
# f3 closes over f2.y
def f2(x):
y = x
def f3(t):
print(2, y)
t.callback(None)
return f3
tim.callback(f2(3))
pyb.delay(10)
import time
led = Pin('LED1', Pin.OUT)
#adc_pin = Pin(Pin.cpu.C2, mode=Pin.ANALOG)
adc_pin = Pin(Pin.cpu.C3, mode=Pin.ANALOG)
#adc_pin = Pin(Pin.cpu.A0, mode=Pin.ANALOG)
#adc_pin = Pin(Pin.cpu.A1, mode=Pin.ANALOG)
#adc_pin = Pin(Pin.cpu.B0, mode=Pin.ANALOG) #on testpad
#adc_pin = Pin(Pin.cpu.B1, mode=Pin.ANALOG) #on testpad
dac_pin = Pin(Pin.cpu.A4, mode=Pin.ANALOG)
adc = ADC(adc_pin)
dac = DAC(dac_pin)
tim = Timer(6)
tim.init(freq=5)
tim.counter() # get counter value
def tick(timer): # we will receive the timer object when being called
if led.value()==0:
led.on()
else:
led.off()
print(adc.read())
tim.callback(tick)
time.sleep(10)
tim.deinit()
sensor.skip_frames(time=2000)
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False)
img = sensor.snapshot()
code = img.find_qrcodes()
find_code = False # 初始化为没有数据读入
def is_code_finded():
global find_code
if img.find_qrcodes():
find_code = True
else:
find_code = False
timer = Timer(4)
timer.init(freq=10)
timer.callback(is_code_finded())
while True:
if find_code:
print("finded")
time.sleep(1000)
class tv:
def __init__(self,hres=64,progressive=False,lines=None,linetime=64,buf=None):
if lines == None:
lines = 262 if progressive else 525
self.lines = lines
if buf == None:
if progressive:
self.buf = bytearray(262*hres)
else:
self.buf = bytearray(525*hres)
else:
self.buf = buf
self.hres = hres
self.line_time = linetime
self.progressive = progressive
self.sync_level = 0
self.blanking_level = 56
self.black_level = 58
self.white_level = 73
self.phase = 0
self.buffer_dac = True
self.reinit()
def redac(self):
self.dac = DAC(Pin('X5'),buffering=self.buffer_dac)
self.bmv = memoryview(self.buf)[:len(self)]
self.dac_tim = Timer(6, freq=int(self.hres*1000000/self.line_time))
self.dac.write_timed(self.bmv,self.dac_tim,mode=DAC.CIRCULAR)
self.frame_tim = Timer(5, prescaler=self.dac_tim.prescaler(),period=self.dac_tim.period()*len(self))
self.frame_tim.counter(self.phase)
def reinit(self):
self.calc_porch_magic_numbers()
self.init()
def set_progressive(self,prog=True):
self.progressive = prog
self.calc_porch_magic_numbers()
self.init()
def __len__(self):
return self.hres*self.lines
def calc_porch_magic_numbers(self):
br = self.hres/self.line_time
w = round(4.7*br)
t = int(10.9*br+0.9)#round mostly up
s = round(1.5*br)
self.h_blank = [s,s+w,t]
self.v_blank_e = [6,12,18]
self.v_blank_o = [6,12,19]
hsl = round(18*br)
hsh = round(58*br)
self.h_safe = [hsl-t,hsh-t]
self.v_safe = [32*(2-self.progressive),208*(2-self.progressive)]
def init(self):
self.carrier = Pin('X1')
self.tim = Timer(2, prescaler=1,period=1)
self.ch = self.tim.channel(1, Timer.PWM, pin=self.carrier)
self.ch.pulse_width(1)
self.redac()
self.be = self.bmv
if not self.progressive:
self.bo = self.be[len(self)//2:]
self.fb = framebuf.FrameBuffer(self.buf,self.hres,self.lines,framebuf.GS8)
self.fbe_mv = self.be[self.hres*21+self.h_blank[2]:]
if not self.progressive:
self.fbo_mv = self.bo[self.hres*43//2+self.h_blank[2]:]
h = self.y_dim()//(2-self.progressive)
self.fbe = framebuf.FrameBuffer(self.fbe_mv,self.hres-self.h_blank[2],h,framebuf.GS8,self.hres)
if not self.progressive:
self.fbo = framebuf.FrameBuffer(self.fbo_mv,self.hres-self.h_blank[2],h,framebuf.GS8,self.hres)
self.clear()
def set_pixel(self,x,y,v):
if self.progressive:
self.fbe.pixel(x,y,int(v*(self.white_level-self.black_level)+self.black_level))
else:
[self.fbe,self.fbo][y&1].pixel(x,y//2,int(v*(self.white_level-self.black_level)+self.black_level))
def get_pixel(self,x,y):
if self.progressive:
return (self.fbe_mv[x+y*self.hres]-self.black_level)/(self.white_level-self.black_level)
else:
return ([self.fbe_mv,self.fbo_mv][y&1][x+(y//2)*self.hres]-self.black_level)/(self.white_level-self.black_level)
def set_carrier(self,pre=1,per=1,w=1):
self.tim.init(prescaler=pre,period=per)
self.ch.pulse_width(w)
def clear(self):
self.fb.fill(self.black_level)
self.syncs()
def syncs(self):
self.fb.fill_rect(0,0,self.h_blank[2],self.lines,self.blanking_level)
self.fb.fill_rect(self.h_blank[0],0,self.h_blank[1]-self.h_blank[0],self.lines,self.sync_level)
for y in range(self.v_blank_e[2]):
inv = self.v_blank_e[0] <= y < self.v_blank_e[1]
for x in range(self.hres//2):
val = self.blanking_level
if (self.h_blank[0] <= x < self.h_blank[1]) ^ inv:
val = self.sync_level
self.buf[y*self.hres//2+x] = val
if not self.progressive:
for y in range(self.v_blank_o[2]):
inv = self.v_blank_o[0] <= y < self.v_blank_o[1]
for x in range(self.hres//2):
val = self.blanking_level
if (self.h_blank[0] <= x < self.h_blank[1]) ^ inv:
val = self.sync_level
self.bo[y*self.hres//2+x] = val
def x_dim(self):
return self.hres-self.h_blank[2]
def y_dim(self):
return self.lines-(21 if self.progressive else 43)
def mandelbrot(self,imax=8,p=0,s=2,julia=False,il=0,x0=None,y0=None,x1=None,y1=None,asm=True,julia_seed=0):
x0 = self.h_safe[0] if x0 == None else x0
x1 = self.h_safe[1] if x1 == None else x1
y0 = self.v_safe[0] if y0 == None else y0
y1 = self.v_safe[1] if y1 == None else y1
for x in range(x0,x1):
for y in range(y0,y1):
c = (((x-x0)/(x1-x0-1)-.5)*2 + ((y-y0)/(y1-y0-1)-.5)*2j)*s+p
z = c
if julia:
c = julia_seed
if asm:
i = a_mandelbrot(z,c,imax)
else:
for i in range(imax):
if z.real*z.real+z.imag*z.imag > 4:
break
z = z*z+c
else:
self.set_pixel(x,y,il)
continue
if i == -1:
self.set_pixel(x,y,il)
else:
self.set_pixel(x,y,i/imax)
def demo(self,x0=None,y0=None,x1=None,y1=None):
x0 = self.h_safe[0] if x0 == None else x0
x1 = self.h_safe[1] if x1 == None else x1
w = x1-x0
y0 = self.v_safe[0] if y0 == None else y0
y1 = self.v_safe[1] if y1 == None else y1
h = y1-y0
mx = x0
my = y0
import pyb
import time
acc = pyb.Accel()
btn = pyb.Switch()
p = self.get_pixel(int(mx),int(my))
pos = 0
zoom = 2
it = 16
julia = False
jp = 0
self.mandelbrot(it,pos,zoom,julia,0,x0,y0,x1,y1,julia_seed=jp)
def paddles(c):
x = int(mx-.125*w)
xw = w//4
y = int(my-.125*h)
yw = h//4
y_0 = y0
y_1 = y1
if not self.progressive:
y //= 2
yw //= 2
y_0 //= 2
y_1 //= 2
self.fbe.hline(x,y_0,xw,c)
self.fbe.vline(x0,y,yw,c)
self.fbe.hline(x,y_1,xw,c)
self.fbe.vline(x1,y,yw,c)
if not self.progressive:
self.fbo.hline(x,y_0,xw,c)
self.fbo.vline(x0,y,yw,c)
self.fbo.hline(x,y_1,xw,c)
self.fbo.vline(x1,y,yw,c)
while 1:
paddles(self.black_level)
mx = min(x1-2,max(x0,mx*.98+(-acc.x()/24+.5)*w*.02))
my = min(y1-2,max(y0,my*.98+(acc.y()/24+.5)*h*.02))
paddles(self.white_level)
p = self.get_pixel(int(mx),int(my))
self.set_pixel(int(mx),int(my),(p+.5)%1)
pyb.delay(10)
self.set_pixel(int(mx),int(my),p)
if btn():
st = time.ticks_ms()
nit = it*2
while btn():
if time.ticks_diff(time.ticks_ms(),st) > 1000:
if acc.z()>0:
nit = it*2
else:
nit = "Julia"
self.fbe.fill_rect(x0,y0,w,10,self.black_level)
if not self.progressive:
self.fbo.fill_rect(x0,y0,w,10,self.black_level)
self.fbe.text(str(nit),x0+1,y0+1,self.white_level)
if not self.progressive:
self.fbo.text(str(nit),x0+1,y0+1,self.white_level)
cp = (((mx-x0)/w-.5)*2+2j*((my-y0)/h-.5))*zoom
if time.ticks_diff(time.ticks_ms(),st) > 1000:
if nit == "Julia":
julia ^= 1
jp = pos + cp
pos = 0
zoom = 2
it = 16
else:
it = nit
else:
pos += cp
zoom *= .25
self.mandelbrot(it,pos,zoom,julia,0,x0,y0,x1,y1,julia_seed=jp)
import pyb
from pyb import Pin
from ds18x20 import DS18X20
from pyb import Timer
import micropython
micropython.alloc_emergency_exception_buf(100)
tempValue = 0
print('pin init')
Pin('Y11',Pin.OUT_PP).low() #GND
Pin('Y9',Pin.OUT_PP).high() #VCC
def displayTemp(t):
print('Current Temperature:')
print(tempValue)
tim1 = Timer(1)
tim1.callback(displayTemp)
tim1.init(freq=1/5)
if __name__=='__main__':
DQ=DS18X20(Pin('Y10')) #DQ
while True:
tempValue = DQ.read_temp()
if tval == 0:
return
average = tval / NumSamples
v = (Vcc * average)/4096
if v >= Vcc:
raise OSError("Thermistor not connected")
if v <= 0:
raise OSError("Short circuit")
r = (v * R1) / (Vcc - v)
t = (Beta / math.log(r / Rinf)) - CelsiusToKelvin
return t
ttim = Timer(5)
ttim.init(freq=10)
ttim.callback(getValue)
if __name__ == 'builtins':
try:
print("-- start thermistor --")
while True:
print(getTemperature())
time.sleep(1)
pass
except:
print("-- Failed to start thermistor --")
timer = Timer(2)
logger = logging.getLogger(__name__)
logger.info("Latency test RS232")
logger.info("Initializing interface.")
interface = rs232_tmcl_interface(data_rate=DATA_RATE)
logger.info("Performing test.")
ticks = (WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) / 1000
prescaler = int(ticks / 0x3fffffff)
period = int((WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) /
(1000 * (prescaler + 1)))
while (n < N_SAMPLES):
timer.counter(0)
timer.init(prescaler=prescaler, period=period, callback=timeout)
for i in range(0, PAYLOAD):
interface.send_request_only(TMCL_Request(MODULE_ID, 1, 2, 3, 4, 5),
host_id=HOST_ID,
module_id=MODULE_ID)
try:
for i in range(0, PAYLOAD):
interface.receive_reply(module_id=MODULE_ID, host_id=HOST_ID)
except:
pass
timer.deinit()
if (not (tout)):
counter = timer.counter()
logger.debug("Measured delta ticks: {}".format(counter))
# update values
value = (2 * PAYLOAD) / counter
class TX:
_active_high = True
@classmethod
def active_low(cls):
if ESP32:
raise ValueError('Cannot set active low on ESP32')
cls._active_high = False
def __init__(self, pin, fname, reps=5):
self._pin = pin
self._reps = reps
with open(fname, 'r') as f:
self._data = ujson.load(f)
# Time to wait between nonblocking transmissions. A conservative value in ms.
self._latency = (reps + 2) * max(
(sum(x) for x in self._data.values())) // 1000
gc.collect()
if ESP32:
self._rmt = RMT(0, pin=pin, clock_div=80) # 1μs resolution
elif RP2: # PIO-based RMT-like device
self._rmt = RP2_RMT(pin_pulse=pin) # 1μs resolution
# Array size: length of longest entry + 1 for STOP
asize = max([len(x) for x in self._data.values()]) + 1
self._arr = array('H',
(0 for _ in range(asize))) # on/off times (μs)
else: # Pyboard
self._tim = Timer(5) # Timer 5 controls carrier on/off times
self._tcb = self._cb # Pre-allocate
asize = reps * max([len(x) for x in self._data.values()
]) + 1 # Array size
self._arr = array('H',
(0 for _ in range(asize))) # on/off times (μs)
self._aptr = 0 # Index into array
def _cb(self, t): # T5 callback, generate a carrier mark or space
t.deinit()
p = self._aptr
v = self._arr[p]
if v == STOP:
self._pin(self._active_high ^ 1)
return
self._pin(p & 1 ^ self._active_high)
self._tim.init(prescaler=84, period=v, callback=self._tcb)
self._aptr += 1
def __getitem__(self, key):
return self._data[key]
def keys(self):
return self._data.keys()
def show(self, key):
res = self[key]
if res is not None:
for x, t in enumerate(res):
print('{:3d} {:6d}'.format(x, t))
def latency(self):
return self._latency
# Nonblocking transmit
def __call__(self, key):
gc.collect()
lst = self[key]
if lst is not None:
if ESP32:
# TODO use RMT.loop() cancelled by a soft timer to do reps.
# This would save RAM. RMT.loop() is now fixed. I remain
# unconvinced because of the huge latency of soft timers on
# boards with SPIRAM. It would save ram if a half-word array
# could be passed. But it can't (as of 9th March 2021).
self._rmt.write_pulses(lst * self._reps,
start=1) # Active high
elif RP2:
for x, t in enumerate(lst):
self._arr[x] = t
self._arr[x + 1] = STOP
self._rmt.send(self._arr, self._reps)
else:
x = 0
for _ in range(self._reps):
for t in lst:
self._arr[x] = t
x += 1
self._arr[x] = STOP
self._aptr = 0 # Reset pointer
self._cb(self._tim) # Initiate physical transmission.
# Blocking transmit: proved necessary on Pyboard Lite
@micropython.native
def send(self, key):
gc.collect()
pin = self._pin
q = self._active_high ^ 1 # Pin inactive state
lst = self[key]
if lst is not None:
for _ in range(self._reps):
pin(q)
for t in lst:
pin(pin() ^ 1)
sleep_us(t)
pin(q)
class TX:
timeit = False # Print timing info
_active_high = True
@classmethod
def active_low(cls):
if ESP32:
raise ValueError('Cannot set active low on ESP32')
cls._active_high = False
def __init__(self, pin, fname, reps=5):
self._pin = pin
self._reps = reps
try:
with open(fname, 'r') as f:
self._data = ujson.load(f)
except OSError:
print("Can't open file '{}' for reading.".format(fname))
return
gc.collect()
if ESP32:
self._rmt = RMT(0, pin=pin, clock_div=80) # 1μs resolution
else: # Pyboard
self._tim = Timer(5) # Timer 5 controls carrier on/off times
self._tcb = self._cb # Pre-allocate
asize = reps * max([len(x) for x in self._data.values()
]) + 1 # Array size
self._arr = array('H', 0
for _ in range(asize)) # on/off times (μs)
self._aptr = 0 # Index into array
def _cb(self, t): # T5 callback, generate a carrier mark or space
t.deinit()
p = self._aptr
v = self._arr[p]
if v == STOP:
self._pin(self._active_high ^ 1)
return
self._pin(p & 1 ^ self._active_high)
self._tim.init(prescaler=84, period=v, callback=self._tcb)
self._aptr += 1
def __getitem__(self, key):
if key in self._data:
return self._data[key]
print('Key "{}" does not exist'.format(key))
def keys(self):
return self._data.keys()
def show(self, key):
res = self[key]
if res is not None:
for x, t in enumerate(res):
print('{:3d} {:6d}'.format(x, t))
# Nonblocking transmit
def __call__(self, key):
gc.collect()
lst = self[key]
if lst is not None:
lst = lst * self._reps
if ESP32:
self._rmt.write_pulses(lst, start=1) # Active high
else:
for x, t in enumerate(lst):
self._arr[x] = t
x += 1
self._arr[x] = STOP
self._aptr = 0 # Reset pointer
self._cb(self._tim) # Initiate physical transmission.
# Blocking transmit: proved necessary on Pyboard Lite
@micropython.native
def send(self, key):
gc.collect()
pin = self._pin
q = self._active_high ^ 1 # Pin inactive state
lst = self[key]
if lst is not None:
for _ in range(self._reps):
pin(q)
for t in lst:
pin(pin() ^ 1)
sleep_us(t)
pin(q)
class Buzzer(object):
'''
Plays sounds through the buzzer module
'''
def __init__(self, pin, timerId, channelId):
'''
Constructor
@param pin: Pin where the module is attached to
@param timerId: Timer associated to the pin
@param channelId: Channel of the timer
'''
self._pin = pin
#20200407 DPM: The timer must be initialized with a frequency, otherwise it won't beep.
self._timer = Timer(timerId, freq=440)
self._channel = self._timer.channel(channelId,
Timer.PWM,
pin=self._pin,
pulse_width=0)
self._buzzing = False
def startBuzz(self, freq):
'''
Starts beeping. Use the stopBuzz method to finish.
@see Buzzer.stopBuzz
@param freq: Frequency of the sound
'''
if self._buzzing:
self._timer.freq(freq)
else:
self._timer.init(freq=freq)
self._buzzing = True
self._channel.pulse_width_percent(50.0)
def stopBuzz(self):
'''
Stops beeping.
@see Buzzer.startBuzz
'''
self._channel.pulse_width(0)
self._buzzing = False
def buzz(self, freq, millisecs):
'''
Beeps a sound during a time
@param freq: Frequency of the sound
@param millisecs: Time to play
'''
self.startBuzz(freq)
sleep_ms(millisecs)
self.stopBuzz()
def trill(self, freq, millisecs, playTime=10, muteTime=10):
'''
Makes a vibrating sound
@param freq: Frequency of the sound
@param millisecs: Duration of the sound
@param playTime: (default=10) Time the buzzer beeps, as milliseconds
@param muteTime: (default=10) Time the buzzer is muted, as milliseconds
'''
startTime = ticks_ms()
while millisecs > ticks_diff(ticks_ms(), startTime):
self.startBuzz(freq)
sleep_ms(playTime)
self.stopBuzz()
sleep_ms(muteTime)
def slide(self, freq1, freq2, millisecs):
'''
Slides sound between frequencies
@param freq1: Starting frequency
@param freq2: End frequency
@param millisecs: Duration of the effect
'''
step = (freq2 - freq1) / millisecs
freq = freq1
t = 0
while t < millisecs:
self.startBuzz(freq)
sleep_ms(1)
t += 1
freq += step
self._channel.pulse_width(0)
def cleanup(self):
'''
Removes resources
'''
self._channel.pulse_width(0)
self._buzzing = False
self._timer.deinit()
return cb4
# create a timer with a callback, using callback(None) to stop
tim = Timer(1, freq=100, callback=cb1)
pyb.delay(5)
print("before cb1")
pyb.delay(15)
# create a timer with a callback, using deinit to stop
tim = Timer(2, freq=100, callback=cb2)
pyb.delay(5)
print("before cb2")
pyb.delay(15)
# create a timer, then set the freq, then set the callback
tim = Timer(4)
tim.init(freq=100)
tim.callback(cb1)
pyb.delay(5)
print("before cb1")
pyb.delay(15)
# test callback with a closure
tim.init(freq=100)
tim.callback(cb3(3))
pyb.delay(5)
print("before cb4")
pyb.delay(15)
class Button(object):
'''
This button can handle short and long press
'''
def __init__(self, pin, timerId=6, thresholdTime=1000, lowOnPress=False):
'''
Constructor
@param pin: Pin object where the button is
@param timerId: (default=6) Timer to determine the long press
@param thresholdTime: Waiting time to determine a long press as milliseconds
@param lowOnPress: Indicates whether the value is 0 when the button is pressed (pull-down)
The user (blue) button on the NUCLEO-L476RG board must have this parameter as True,
but for the case of the NUCLEO-F767ZI board, this parameter must be False
'''
self._pin = Pin(pin)
self._pin.init(mode=Pin.IN)
self._pin.irq(handler=self._onPinIrq)
self._lowOnPress = lowOnPress
self._thresholdTime = thresholdTime
self._pressTime = 0
self._timer = Timer(timerId)
self._shortPressHandler = None
self._longPressHandler = None
self._isTimeout = False
def _onPinIrq(self, _):
self._pin.irq(handler=None)
self._timer.callback(None)
self._timer.deinit()
#debounce signal
sleep_ms(50)
if self._pin.value() == (1 if self._lowOnPress else 0):
if not self._isTimeout:
schedule(self._shortPressHandler, self)
else:
self._isTimeout = False
self._timer.init(freq=1000 / self._thresholdTime,
callback=self._onTimeout)
self._pin.irq(handler=self._onPinIrq)
def _onTimeout(self, t):
t.deinit()
self._isTimeout = True
schedule(self._longPressHandler, self)
def setShortPressHandler(self, handler):
'''
Sets the handler for short press
'''
self._shortPressHandler = handler
return self
def setLongPressHandler(self, handler):
'''
Sets the handler for long press
'''
self._longPressHandler = handler
return self
def cleanup(self):
'''
Releases resources
Deinits the timer and removes handler for the pin's IRQ
'''
self._timer.deinit()
self._pin.irq(handler=None)